Real-time generation of trapezoidal velocity profile for minimum energy consumption and zero residual vibration in servomotor systems

Abstract

In this paper, a real-time approach of generating trapezoidal velocity profile (known as T-curve) is newly proposed to simultaneously achieve minimum energy consumption and zero residual vibration for flexible servomotor systems. By establishing the cost function of minimum energy consumption and deriving the zero-residual-vibration conditions with respect to two tuning parameters, the T-curve generation is formulated into a nonlinear integer programming problem (NIPP). To solve this NIPP, a novel algorithm is presented using continuous relaxation method. This algorithm is computation-efficient and applicable in practice by utilizing the strictly quasi-convexity of the continuous relaxation problem. The proposed method is verified by comparative simulation examples.